I have to say I agree with the OP. One major thing I so much enjoy in Bioware games and the Persona series is how it feels like you slowly get to know other characters and grow all sorts of personal connections with them, be it romantic, friendship or even rivalry. I end up building my party out of characters I like, instead of characters who are best in battle. I have to take this one because he's my sweetheart, and her because she's my BFF, and that one because he's got this funny antagonistic relationship with another character and it's amusing to follow their exchanges. I wish more RPGs would treat your party members as more than mules to carry around all your stuff.